CN111316630B

CN111316630B - Handheld holder and shooting control method thereof

Info

Publication number: CN111316630B
Application number: CN201880068393.6A
Authority: CN
Inventors: 马天航
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2018-11-28
Filing date: 2018-11-28
Publication date: 2022-03-25
Anticipated expiration: 2038-11-28
Also published as: US11245855B2; US20220159189A1; US11539893B2; US20210281764A1; CN111316630A; WO2020107266A1

Abstract

A handheld cloud deck and a shooting control method thereof are disclosed, the method comprises the following steps: when the shooting mode of the handheld cloud deck is a self-shooting mode, determining the characteristic information of the target object; controlling a shooting device to track and shoot the target object according to the characteristic information of the target object; determining the position information of the target object in the shooting picture according to the characteristic information of the target object; adjusting control parameters of the shooting device according to the position information of the target object in the shooting picture so that the shooting device shoots the target object in a preset configuration to obtain the shooting picture; and displaying the shot picture in real time through the display screen. In the tracking shooting process, the configuration of the shooting device of the handheld cloud deck is always preset, so that the composition of the shot picture meets the requirement, the shot picture is further displayed in real time through the display screen, and the influence on the shooting effect caused by the fact that a user cannot see the composition of the shot picture is avoided.

Description

Handheld holder and shooting control method thereof

Technical Field

The invention relates to the field of cloud platforms, in particular to a handheld cloud platform and a shooting control method thereof.

Background

In the prior art, when a handheld tripod head is used for shooting, a shooting object must be manually captured and a target object must be placed at a proper position of a shooting picture, and when the shooting object is always in a motion state, each picture is difficult to be stably captured by manually tracking by a photographer; when a photographer is in a bumpy and unstable state, the handheld tripod head cannot be aligned with a shooting object all the time; in addition, when the photographer uses the extension bar, it is difficult to see the photographed picture displayed on the screen of the photographing apparatus itself, which results in failure to complete the composition, and the like. Especially, when autodyne, current handheld cloud platform is difficult to reach the shooting effect of expectation.

If a photographer needs to observe a shot picture in real time, a terminal (such as a mobile phone) matched with the handheld holder needs to be additionally arranged. In the shooting process, the handheld cloud platform can be sent the shooting picture to the terminal, and the user needs to observe the shooting picture in real time on terminal APP, and operation process is comparatively loaded down with trivial details, inconvenient.

Disclosure of Invention

The invention provides a handheld cloud deck and a shooting control method thereof.

Specifically, the invention is realized by the following technical scheme:

according to a first aspect of the present invention, a shooting control method for a handheld tripod head is provided, wherein the handheld tripod head comprises a shooting device and a display screen; the method comprises the following steps:

when the shooting mode of the handheld cloud deck is a self-shooting mode, determining the characteristic information of a target object;

controlling the shooting device to shoot the target object in a tracking mode according to the characteristic information of the target object;

determining the position information of the target object in the shooting picture according to the characteristic information of the target object;

adjusting control parameters of the shooting device according to the position information of the target object in the shooting picture, so that the shooting device shoots the target object in a preset configuration to obtain the shooting picture;

and displaying the shooting picture in real time through the display screen.

According to a second aspect of the present invention, there is provided a handheld tripod head comprising:

a handle;

the holder is fixedly connected with the handle;

a shooting device mounted on the pan/tilt head;

the display screen is arranged on the handle; and

the controller is electrically connected with the holder, the shooting device and the display screen respectively;

the shooting device is used for shooting images and sending the shot images to the controller;

the controller performs the following operations according to the received image:

and displaying the shooting picture in real time through the display screen.

According to the technical scheme provided by the embodiment of the invention, when the handheld cloud deck is in a self-photographing mode, in the process of tracking and photographing a target object, the control parameters of the photographing device are adjusted in real time according to the position information of the target object in a photographing picture, so that the configuration of the photographing device in the tracking and photographing process is always in a preset configuration, the composition of the photographing picture meets the requirement, and the follow-photographing process does not need manual operation of a user; further, the shooting picture is displayed in real time through the display screen, and the phenomenon that the shooting effect of the handheld cloud deck is influenced due to the fact that a user cannot see the composition of the shooting picture is avoided.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

Fig. 1 is a flowchart of a method for controlling shooting of a handheld pan/tilt head according to an embodiment of the present invention;

FIG. 2a is a schematic interface diagram illustrating a click operation performed by a user on a display screen for a preview image according to an embodiment of the present invention;

FIG. 2b is a schematic diagram of an interface for acquiring a target object from a preview image according to an embodiment of the present invention;

FIG. 2c is a schematic interface diagram of an enlargement process on a display screen according to an embodiment of the present invention;

fig. 2d is an interface schematic diagram of a frame selection operation on the enlarged preview image according to the embodiment of the present invention;

fig. 3a is an interface schematic diagram of a frame selection operation performed by a user on a display screen for a preview image according to an embodiment of the present invention;

FIG. 3b is a schematic diagram of another interface for obtaining a target object from a preview image according to an embodiment of the present invention;

FIG. 4a is a schematic diagram of a captured image output by a camera according to an embodiment of the present invention;

FIG. 4b is a diagram of a captured image output by another imaging device according to an embodiment of the present invention;

FIG. 4c is a diagram of a captured image output by another imaging apparatus according to an embodiment of the present invention;

fig. 5 is a flowchart of a shooting control method of a handheld pan/tilt head according to another embodiment of the present invention;

FIG. 6a is a schematic diagram of a captured image output by another imaging device according to an embodiment of the present invention;

FIG. 6b is a diagram of a captured image output by another imaging device according to an embodiment of the present invention;

FIG. 6c is a diagram of a captured image output by another imaging device according to an embodiment of the present invention;

fig. 7 is a flowchart of a shooting control method of a handheld pan/tilt head according to another embodiment of the present invention;

fig. 8 is a perspective view of a handheld pan/tilt head according to an embodiment of the present invention;

fig. 9 is a block diagram of the structure of the handheld cradle head shown in the embodiment of fig. 8.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The following describes the handheld tripod head and the shooting control method thereof in detail with reference to the accompanying drawings. The features of the following examples and embodiments may be combined with each other without conflict.

In the embodiment of the invention, the handheld cloud deck can comprise a shooting device and a display screen. The shooting device can be an integrated shooting device such as a camera and a mobile phone, and can also be an optical lens including an image sensor. The handheld cloud platform of this embodiment still can include handle and cloud platform, and the shooting device passes through the cloud platform and carries on the handle. The holder can be a two-axis holder and also a three-axis holder. The pan/tilt head of the embodiment can rotate around at least the yaw axis (i.e., yaw axis) to drive the shooting device to rotate in the yaw direction.

It should be noted that the display screen of the present embodiment is a part of the handheld cradle head, and is not independently disposed. Specifically, the handheld cloud platform of this embodiment still can include the handle, and the display screen is located on the handle. The display screen can be an LCD (liquid crystal display) screen, and can also be other types of display screens. The size of the display screen may be a smaller screen, such as a 3 × 3cm2 screen, or may be any other size screen, and the size of the display screen is not particularly limited in the embodiment of the present invention.

In addition, the handheld cloud deck may further include a controller, and the controller may execute the shooting control method described in this embodiment.

Fig. 1 is a flowchart of a method for controlling shooting of a handheld pan/tilt head according to an embodiment of the present invention. Referring to fig. 1, a shooting control method of a handheld pan/tilt head according to an embodiment of the present invention may include the following steps:

step S101: when the shooting mode of the handheld cloud deck is a self-shooting mode, determining the characteristic information of the target object;

in the embodiment, the handheld pan/tilt head may have a plurality of shooting modes, such as a single shooting mode, a continuous shooting mode, a panoramic mode, a scene (e.g., portrait, landscape, sports, etc.) mode, and the like. The handheld cloud platform can also comprise a normal shooting mode and a self-shooting mode. It should be noted that, in the embodiment of the present invention, the self-timer mode refers to tracking a self-timer mode, rather than a single self-timer.

And under the default condition, the handheld cloud platform is in the mode when being powered off last time when being powered on. In some embodiments, the handheld cradle head is in a self-photographing mode when being turned off last time, and the controller can detect that the handheld cradle head is in a photographing mode after the handheld cradle head is turned on last time.

In other embodiments, the handheld cradle head is in the normal shooting mode when being powered off last time, and the handheld cradle head is in the normal shooting mode when being powered on last time. After the handheld cloud deck is started up at the present time, if a user needs to carry out self-shooting, the handheld cloud deck needs to be triggered to a self-shooting mode. In this embodiment, before step S101, it needs to be determined that the handheld pan/tilt head is triggered to the self-photographing mode.

Specifically, the handheld cradle head can be switched from a normal shooting mode to a self-shooting mode by adopting two modes of automatic triggering or manual triggering, and the following modes are introduced respectively:

firstly, the handheld cloud platform is switched to a self-photographing mode from a normal photographing mode by adopting an automatic triggering mode. Specifically, the controller acquires a preview image shot by the shooting device, determines that a specific target object exists in the preview image according to a target detection algorithm, and switches the handheld holder from a normal shooting mode to a self-shooting mode. In the implementation mode, after the controller acquires the preview image shot by the shooting device, if the specific target object exists in the preview image according to the target detection algorithm, the controller determines that the handheld cloud deck is triggered to the self-shooting mode.

As a possible implementation manner, the controller may detect the target object in the preview image through a neural network model, for example, when determining the feature information of the target object, the controller detects the position and size of the target object in the preview image through the neural network model.

As another possible implementation, the controller may detect the target object in the preview image through a face detection algorithm or a target contour detection algorithm. When determining the feature information of the target object, the controller extracts the face feature information of the target object in the preview image according to a face detection algorithm, or extracts the contour feature information of the target object in the preview image according to a target contour detection algorithm.

In the two possible implementations, the target object in the preview image is not limited to one, and may be a plurality of target objects.

And in the second mode, the handheld cradle head is switched to a self-photographing mode from a normal photographing mode by adopting a manual triggering mode. Specifically, the controller acquires a preview image photographed by the photographing device and displays the preview image through the display screen. And if the controller acquires that the user executes tracking trigger operation on the display screen aiming at the preview image, switching the handheld cloud deck from the normal shooting mode to the self-shooting mode. In this embodiment, after acquiring a preview image captured by the capturing device and displaying the preview image on the display screen, if it is acquired that the user performs a tracking trigger operation on the display screen with respect to the preview image, it is determined that the handheld pan/tilt head is triggered to the self-capturing mode.

The tracking trigger operation acquired by the controller may be a click operation, a frame selection operation, or other operations. The click operation may be any one or more of a click operation, a double click operation and a long press operation acquired through the display screen, or any one or more of a click operation, a double click operation and a long press operation acquired through the application APP on the display screen. The frame selection operation may be a frame selection operation acquired on the display screen, or a frame selection operation acquired on the application APP on the display screen.

Further, when determining the feature information of the target object, the controller specifically determines the feature information of the target object in the preview image captured by the capturing device according to the acquired tracking trigger operation executed by the user on the display screen with respect to the preview image.

In one embodiment, the controller may acquire a pointing operation performed by a user on the display screen with respect to the preview image, and determine a pointing image region according to the pointing operation, so as to obtain feature information describing a target object within the pointing image region according to the pointing image region. The characteristic information of the target object comprises any one or more of the length, the width and the coordinate information of a clicking image area determined by clicking operation, and the clicking operation can be single-click operation, double-click operation or long-press operation.

Specifically, fig. 2a and fig. 2b are taken as examples for explanation, fig. 2a is an interface schematic diagram of a click operation performed by a user on a display screen for a preview image according to an embodiment of the present invention, and fig. 2b is an interface schematic diagram of an acquisition of a target object from the preview image according to an embodiment of the present invention. The interface diagram shown in fig. 2a is a preview image captured by the camera and displayed on the display screen, and the controller may automatically determine the click image area shown in 21 in fig. 2b by a user's click operation on the point 20 on the display screen of fig. 2a, take the image in the click image area 21 as a target object, and obtain feature information describing the target object in the click image area 21, i.e., the length, width, coordinate information, etc. of the click image area shown in 21 in the figure, from the click image area 21. When the clicked image area 21 is determined, a menu 22 may also be displayed on the display screen, wherein the menu 22 includes options for indicating display position information, such as centering 221, current position 222, custom 223, and cancel 224, start 225 options. Assuming that the pointing operation on the point 20 on the display screen shown in fig. 2a is a single-click operation, the controller may acquire a pointing image area 21 as shown in fig. 2b determined by the single-click operation, acquire characteristic information such as length, width, coordinate information, and the like of the pointing image area 21, and determine an object in the pointing image area 21 as a target object.

In other embodiments, the display screen may not have a menu but only a preview image when the selected image area is determined. Specifically, it can be explained by taking fig. 2a as an example, assuming that the point selection operation of the point 20 on the display screen in fig. 2a is obtained as a long-time press operation, the handheld cradle head is triggered to start the self-timer mode setting, that is, after the user presses the point 20 on the display screen in fig. 2a for a long time, the controller determines that the user starts the tracking self-timer mode, and can obtain the point selection image area 21 determined by the user pressing the point 20 for a long time.

In one embodiment, the controller may determine a target point by acquiring a pointing operation, perform object estimation detection on the preview image with the target point as a center, determine a target object, and determine a pointing image region according to the target object, thereby obtaining feature information describing the target object in the pointing image region according to the pointing image region.

In a specific implementation process, the controller may determine a coordinate position of a target point according to the obtained clicking operation, detect whether an object exists on the preview image by using the target point as a center through a preset detection algorithm, determine the target object if the object exists, and determine a clicked image area according to the target object, thereby determining characteristic information such as length, width, coordinate information and the like of the clicked image area of the target object. The preset detection algorithm may be any one or more detection algorithms used for determining the target object, and the embodiment of the present invention does not specifically limit the preset detection algorithm. For example, assuming that the preset detection algorithm is a saliency algorithm, the controller may derive size and position information of one object having the most saliency including the target point coordinate information and determine it as the target object through the saliency algorithm.

In one embodiment, the controller may perform image enlargement processing on the preview image according to a preset ratio by acquiring a target point determined by the pointing operation, centering on the target point, acquire a frame selection image area determined by the frame selection operation on the enlarged preview image, and acquire feature information describing a target object in the frame selection image area according to the frame selection image area. In a specific implementation process, assuming that the clicking operation acquired by the controller is a clicking operation, the controller may acquire a target point determined by the clicking operation of the user on the display screen, and acquire an image obtained by amplifying the preview image on the display screen according to a preset ratio with the target point as a center. The user can perform framing operation on the enlarged preview image, and the controller can acquire a framing image area determined by the framing operation of the user and determine characteristic information such as length, width and coordinate information for describing the framing image area.

Specifically, fig. 2c and fig. 2d are taken as examples for explanation, fig. 2c is a schematic interface diagram of an enlargement process on a display screen according to an embodiment of the present invention, and fig. 2d is a schematic interface diagram of a frame selection operation on a preview image after the enlargement process according to an embodiment of the present invention. Assuming that the pointing operation acquired by the controller is a click operation on the target point 23 shown in fig. 2c, coordinate information of the target point 23 determined by the click operation of the user on the display screen can be acquired by self, and the image 24 after the user enlarges the preview image on the display screen according to a preset proportion with the target point 23 as a center. The user may perform a frame selection operation on the enlarged preview image 24 as shown in fig. 2d, and the controller may acquire the frame selection image area 25 determined by the frame selection operation of the user, and determine feature information describing the length, width, coordinate information, and the like of the frame selection image area 25.

In one embodiment, the controller may acquire a frame selection operation performed by a user on the display screen for the preview image, determine a frame selection image area according to the frame selection operation, and obtain feature information for describing a target object in the frame selection image area according to the frame selection image area. The controller can acquire the framing operation on the display screen, determine the framing image area according to the framing operation, and calculate the length, width, coordinate information and other characteristic information of the framing image area, wherein the characteristic information is used for describing the target object in the framing image area.

Specifically, fig. 3a and fig. 3b are taken as examples for explanation, fig. 3a is an interface schematic diagram of a frame selection operation performed on a display screen by a user for a preview image according to an embodiment of the present invention, figure 3b is a schematic diagram of another interface for acquiring a target object from a preview image according to an embodiment of the present invention, the interface diagram shown in fig. 3a is a preview image captured by the camera and displayed on the display screen, and the user can perform a frame selection operation on the preview image shown in fig. 3a to select the frame selection area 30, determine the frame selection image area 31 shown in fig. 3b, take the image in the frame selection image area 31 as a target object, and obtains feature information describing the target object in the selected image area 31, i.e. length, width, coordinate information, etc. of the selected image area 31 as shown in fig. 3b, from the selected image area 31.

In this embodiment, the switching of the handheld cradle head from the normal shooting mode to the self-shooting mode by the controller not only needs to satisfy the triggering condition corresponding to the above automatic triggering mode or manual triggering mode, but also needs to satisfy other conditions, for example, in an embodiment, the switching of the handheld cradle head from the normal shooting mode to the self-shooting mode by the controller further includes: the controller detects a user switching the photographing apparatus to a selection operation for user-oriented photographing. Optionally, when the controller detects that the handheld cradle head meets the triggering condition corresponding to the automatic triggering mode and detects that the user switches the shooting device to the selection operation facing the user shooting, it is determined that the handheld cradle head is triggered to the self-shooting mode. Optionally, when the controller detects that the handheld cradle head meets the trigger condition corresponding to the manual trigger mode and detects that the user switches the shooting device to the selection operation facing the user shooting, it is determined that the handheld cradle head is triggered to the self-shooting mode.

The controller detects the selection operation of the user on the shooting mode of the handheld cloud deck before detecting that the user switches the shooting device to the selection operation facing the shooting of the user, and determines the shooting mode of the handheld cloud deck according to the selection operation. Specifically, a key or a button may be disposed on the handheld cradle head, so that the user can set the shooting mode of the handheld cradle head by operating the key or the button. For example, when the photographing device is a lens mounted on a handheld pan/tilt head, the key or the button may be used to control at least one axis of the handheld pan/tilt head to rotate so that the lens rotates in a yaw direction to face a user, thereby switching the photographing device to photograph facing the user. For another example, when the shooting device is a mobile phone installed on the handheld cradle head, the key or the button may be used to control the shooting device to switch to the front camera or to the rear camera, and accordingly, the controller detects the operation of the user on the key or the button, and determines the shooting mode of the handheld cradle head according to the operation. For example, when the user clicks the button or button, the photographing device is switched to photographing facing the user, and accordingly, the controller detects a click operation of the user to switch the photographing device to the front camera. When the user double-clicks the key or the button, the photographing device is switched to normal photographing, and correspondingly, the controller detects double-click operation of the user for switching the photographing device to normal photographing. The key or button can be a solid key or button arranged on the handle, and also can be a virtual key or button arranged on the display screen.

The controller detects that the user selects the shooting mode of the handheld cloud deck and comprises the following operations: the selection operation of the user to rotate the photographing apparatus with the yaw axis as the rotation axis toward the user is detected. For example, a key or a button may be disposed on the handheld pan/tilt head, and the key or the button is used for controlling the photographing device to rotate around the yaw axis as the rotation axis. When the user needs to take a self-timer, the user can press or continuously press the key or button, during the pressing or continuous pressing, the camera can continuously rotate with the yaw axis as the rotating axis, and when the camera rotates to the direction facing the user with the yaw axis as the rotating axis, the user can stop pressing the key or button. Accordingly, the controller may detect an operation of the user pressing the key or button, and detect a rotation angle of the photographing device with the yaw axis as the rotation axis in real time when the user presses the key or button, and determine that the photographing device enters the self-timer mode when the photographing device is rotated to a direction toward the user with the yaw axis as the rotation axis.

In another embodiment, the controller switching the handheld tripod head from the normal shooting mode to the self-timer shooting mode further comprises: the controller detects that the difference value between the angle of the handheld cloud platform rotating by taking the yaw axis as the rotating shaft and 180 degrees is smaller than a first angle threshold value, and the included angle between the yaw axis of the handheld cloud platform and the vertical direction is smaller than a second angle threshold value. Optionally, when the controller detects that the handheld cradle head meets the triggering condition corresponding to the automatic triggering mode, and detects that the difference between the angle of rotation of the handheld cradle head by using the yaw axis as the rotating axis and 180 degrees is smaller than the first angle threshold, and the included angle between the yaw axis of the handheld cradle head and the vertical direction is smaller than the second angle threshold, it is determined that the handheld cradle head is triggered to the self-shooting mode. Optionally, when the controller detects that the handheld cradle head meets the triggering condition corresponding to the manual triggering mode, and detects that the difference between the angle of rotation of the handheld cradle head by using the yaw axis as the rotating axis and 180 degrees is smaller than the first angle threshold, and the included angle between the yaw axis of the handheld cradle head and the vertical direction is smaller than the second angle threshold, it is determined that the handheld cradle head is triggered to the self-shooting mode.

For example, the yaw angle of the handheld tripod head at the current moment is 0 degree, and from the current moment, the user rotates the handheld tripod head to enable the handheld tripod head to rotate by taking the yaw axis as the rotating axis, so that the yaw angle of the handheld tripod head continuously changes, and when the controller detects that the rotating angle of the handheld tripod head by taking the yaw axis as the rotating axis is close to 180 degrees and the yaw axis of the handheld tripod head is substantially kept in the vertical direction, the shooting mode of the handheld tripod head is determined to be the self-shooting mode. Alternatively, the controller may detect only a change in the attitude of the handle of the handheld pan/tilt head, and determine to enter the self-timer mode according to the change in the attitude of the handle. For example, in some cases, when the handheld cradle head normally shoots in the augmented stability mode, the user rotates the handle by about 180 degrees, which indicates that he wishes to use the handheld cradle head to perform self-shooting, and even if the cradle head shaft portion remains in the augmented stability mode at this time, the controller may determine to enter the self-shooting mode by detecting a change in the posture of the handle.

In one embodiment, in a normal shooting state, the orientation of the lens of the shooting device is opposite to the orientation of the display screen of the handheld cradle head, at this time, the shooting device is defaulted to be in a non-self-shooting mode, and after the shooting device is confirmed to enter the self-shooting mode due to the manual or automatic triggering, the lens of the shooting device rotates to further tend to be consistent with the orientation direction of the display screen, at this time, the lens of the shooting device and the display screen are both in the direction facing a user, the user can view self-shooting modeling and picture composition from the display screen in real time when self-shooting is carried out, and real-time adjustment is facilitated to complete more satisfactory self-shooting.

In this embodiment, before detecting that the user switches the shooting device to the selection operation facing the user shooting, the controller further detects the posture of the handheld pan/tilt head, and determines the shooting mode of the handheld pan/tilt head according to the posture of the handheld pan/tilt head. Specifically, the controller can detect the gesture of the handheld cloud deck in real time, and determine the shooting mode of the handheld cloud deck according to the gesture of the handheld cloud deck. For example, the handheld pan/tilt head is specifically a three-axis pan/tilt head, the three-axis pan/tilt head can rotate in the pitch axis, the yaw axis and the roll axis directions, the controller can detect the rotation angles of the three-axis pan/tilt head in the pitch axis, the yaw axis and the roll axis directions, determine the posture of the handheld pan/tilt head according to the rotation angles, and further determine whether the handheld pan/tilt head enters the self-shooting mode according to the posture of the handheld pan/tilt head.

Step S102: controlling a shooting device to track and shoot the target object according to the characteristic information of the target object;

specifically, when executing step S102, the controller controls the photographing device to perform tracking photographing on the target object by using a tracking algorithm according to the feature information of the target object. The tracking algorithm may be a (Kanade-Lucas-Tomasi Feature Tracker, KLT) Feature tracking algorithm, or other tracking algorithms.

Step S103: determining the position information of the target object in the shooting picture according to the characteristic information of the target object;

as shown in fig. 4a, 41 and 42 respectively represent two frames of images output by the camera one after the other, when the camera outputs the image 41, the controller detects the target object 43 through the neural network model, and determines the feature points, such as A, B, C, D, E, F, G, of the target object 43 according to the feature point detection algorithm. Further, the controller tracks the target object 43 by using a tracking algorithm, specifically, a (Kanade-Lucas-Tomasi Feature Tracker, KLT) Feature tracking algorithm, for example, determining the position of the Feature point A, B, C, D, E, F, G in the image 41 in the image 42 according to the KLT Feature tracking algorithm, and determining the position of the target object 43 in the image 42 according to the position of the Feature point A, B, C, D, E, F, G in the image 42. Optionally, the controller may also determine the position of the target object 43 in an image subsequent to the image 42, thereby enabling tracking of the target object 43.

Step S104: adjusting control parameters of the shooting device according to the position information of the target object in the shooting picture so that the shooting device shoots the target object in a preset configuration to obtain the shooting picture;

optionally, the preset configuration includes at least one of the following: the target object is positioned at a preset position of a shooting picture of the shooting device; the preset size of the target object in the shooting picture of the shooting device.

For example, the target object may be moving or stationary relative to the handheld head. If the position of the target object in the shooting picture is not at the preset position, the controller may adjust the control parameter of the shooting device according to the position information of the target object in the shooting picture, so that the target object is maintained at the preset position of the shooting picture of the shooting device. Optionally, the control parameter of the shooting device may include at least one of: focal length, shutter, aperture, shooting attitude. When the control parameter includes a photographing posture, adjusting the control parameter of the photographing device includes adjusting a posture of the photographing device on pitch, yaw, roll axes.

Alternatively, the target object may be in motion relative to the handheld tripod head, the size of the target object in the shooting picture is changed with time, and when the size of the target object in the shooting picture is not the preset size, the target object may be kept at the preset size in the shooting picture of the shooting device by adjusting the shooting parameters of the shooting device, for example, controlling the shooting device to zoom.

In this embodiment, before the controller controls the shooting device to shoot the target object in a tracking manner according to the feature information of the target object, the controller needs to acquire a preview image shot by the shooting device and display the preview image through a display screen.

In an embodiment, the preset position is a default position, for example, the preset position may be a position of the target object in the preview image.

In another embodiment, the preset position is set by the user. In this embodiment, after the controller displays the preview image on the display screen, the controller further obtains display position information of the target object set on the display screen, and the preset position is a display position corresponding to the display position information.

For example, the controller determines the display position information of the target object by acquiring a click operation on position indication information included in a menu set on the display screen and determining the position indication information according to the acquired position indication information determined by the click operation. The setting mode of the display position information of the target object can be set by setting a menu on the display screen, wherein the menu comprises a plurality of position indication information options. The handheld cloud deck can determine the display position information of the target object according to the obtained click operation of the user on the position indication information option.

In one embodiment, the handheld cloud deck may obtain a click operation on a position indication information option included in a menu on a display screen, and determine display position information of a target object according to position indication information determined by the obtained click operation.

Specifically, as illustrated in fig. 2b as an example, the handheld cradle head may obtain a click operation on position indication information included in the menu 22 set on the display screen, and if the user clicks a center 221 option in the menu 22, the handheld cradle head may determine, according to the obtained center position indication information determined by the click operation, that the display position information of the target object is a center position on the display screen, and if the user clicks a cancel 224 option, the handheld cradle head may cancel the display position information set for the target object as the center position on the screen displaying the preview image, and may reset the display position information of the target object. Specifically, the menu 22 may be operated by a single-click operation, a double-click operation, or a long-press operation, thereby setting the selection position indication information. For another example, if the handheld tripod head obtains the click operation of the user on the current position option in the menu 22, the position indication information of the current position 222 determined by the click operation may be obtained, and the display position information of the target object is determined as the current position of the target object on the screen displaying the preview image. Optionally, the display position information of the target object is the acquired position indication information determined by the click operation. Optionally, the obtained position indication information determined by the click operation may be adjusted according to a preset rule, and the display position information of the target object is the position indication information adjusted according to the preset rule, for example, the display position information of the target object is a product of the position indication information and a first preset coefficient.

The setting mode of the display position information of the target object can also determine the position information after the point image area is dragged as the display position information of the target object through the dragging operation of acquiring the point image area on the display screen. In one embodiment, the handheld cloud deck may obtain a dragging operation on the clicked image area, and determine display position information of the target image according to the obtained position information of the clicked image area dragged by the dragging operation. Specifically, as illustrated in fig. 2b, assuming that the controller obtains the user's click operation on the custom 223 option in the menu 22, the user may drag the click image area 21 of the target object to an arbitrary position on the display screen, and use the position of the click image area 21 after being dragged as the display position information of the target object. For another example, the handheld pan/tilt head may directly drag the clicked image area 21 of the target object to an arbitrary position without acquiring a click operation on the custom 223 option in the menu 22, and use the position of the clicked image area 21 after dragging as the display position information of the target object. Optionally, the display position information of the target object is acquired position information of a clicked image area dragged by the dragging operation. Optionally, the obtained position information of the clicked image area dragged by the dragging operation may be adjusted according to a preset rule, and the display position information of the target object is the position information adjusted according to the preset rule, for example, the display position information of the target object is a product of the position information of the clicked image area dragged by the dragging operation and a second preset coefficient.

For another example, the controller may further determine the display position information of the target object according to the position information of the frame selection image area dragged by the acquired dragging operation by acquiring a frame selection operation performed by the user on the display screen with respect to the preview image, determining the frame selection image area according to the frame selection operation, and acquiring the dragging operation for the determined frame selection image area. Specifically, as illustrated in fig. 3b, the user may directly drag the frame-selected image area 31 of the target object to an arbitrary position, and use the position of the frame-selected image area 31 after dragging as the display position information of the target object. Optionally, the display position information of the target object is position information of the obtained frame-selected image area dragged by the dragging operation. Optionally, the acquired position information of the frame-selected image area dragged by the dragging operation may be adjusted according to a preset rule, and the display position information of the target object is the position information adjusted according to the preset rule, for example, the display position information of the target object is a product of the position information of the frame-selected image area dragged by the dragging operation and a third preset coefficient.

In an embodiment, the preset size is a default size, for example, the preset size may be a size of the target object in the preview image.

In another embodiment, the controller further acquires display size information of the target object set on the display screen after displaying the preview image captured by the capturing device through the display screen, and the preset size is a display size corresponding to the display size information.

For example, referring to fig. 2d, after acquiring that the user performs a pointing operation on the display screen with respect to the preview image, and determining the pointing image area 25 according to the pointing operation, the controller may manually adjust the size of the target frame of the pointing image area to implement enlargement or reduction of the pointing image area 25, and then determine the preset size according to the size of the pointing image area manually adjusted by the user. Optionally, the preset size is the size of the clicked image area manually adjusted by the user. Optionally, the size of the clicked image area manually adjusted by the user is adjusted according to a preset rule, where the preset size is the size of the clicked image area adjusted according to the preset rule, and for example, the preset size is a product of the size of the clicked image area manually adjusted by the user and a fourth preset coefficient.

For another example, referring to fig. 3b, after acquiring that the user performs a frame selection operation on the display screen with respect to the preview image, and determining the frame selection image area 31 according to the frame selection operation, the controller may manually adjust the size of the target frame of the frame selection image area to implement enlargement or reduction of the frame selection image area 31, and then determine the preset size according to the size of the frame selection image area manually adjusted by the user. Optionally, the preset size is the size of the frame-selected image area manually adjusted by the user. Optionally, the size of the frame-selected image area manually adjusted by the user is adjusted according to a preset rule, where the preset size is the size of the frame-selected image area adjusted according to the preset rule, and for example, the preset size is a product of the size of the frame-selected image area manually adjusted by the user and a fourth preset coefficient.

In the tracking photographing process, the position of the target object in different photographing frames may be different, and in this case, the controller may adjust the control parameter of the photographing apparatus so that the target object is maintained at a preset position of the photographing frame of the photographing apparatus.

In this embodiment, the controller adjusts the shooting posture of the shooting device according to the position information of the target object in the shooting picture, so that the target object is at the preset position of the shooting picture. As shown in fig. 4b, the position of the target object 43 in the photographing screen 41 is different from the position of the target object 43 in the photographing screen 42, and in this case, the controller may adjust the photographing posture of the photographing apparatus so that the target object 43 is maintained at a preset position of the photographing screen. Optionally, the shooting attitude of the shooting device is adjusted by controlling the attitude of the holder.

Further, after the controller adjusts the shooting attitude of the shooting device by controlling the attitude of the holder, the controller determines the reliability of the target shooting picture according to the characteristic information of the target object and the tracking information of the target object determined on the target shooting picture, and determines the attitude of the holder according to the reliability. The reliability is used for representing the tracking accuracy of a target shooting picture obtained by tracking and shooting a target object determined on the preview image by the shooting device. For example, the characteristic information acquired by the handheld pan/tilt head on the preview image is the length, width and GPS coordinate position of the framed image area, and the controller determines the length, width and GPS coordinate position of the target object in the target shooting picture, i.e. the tracking information, so that the reliability of the target shooting picture can be calculated.

In an embodiment, when determining the posture of the pan/tilt head according to the reliability, the controller may detect whether the acquired reliability is less than a preset threshold, when the reliability is less than the preset threshold, the controller may perform full-map detection on the target shooting picture, if a target object exists in the detection result, obtain detection position information of the target object in the target shooting picture, and determine the posture of the pan/tilt head according to the detection position information and position information corresponding to the preset position. For example, if the controller determines that the difference between the GPS coordinate position of the target captured image and the GPS coordinate position of the selected image area obtained on the preview image is large, so that the calculated reliability is smaller than the preset threshold, the controller may perform full-view detection on the target captured image, and if a target object is detected in the full-view, obtain detection position information of the target object in the target captured image, and determine the posture of the pan-tilt head according to the detection position information and the display position information, so that the feature information of the target object in the target captured image is the same as the feature information of the target object set in the preview image.

In an embodiment, when determining the attitude of the cradle head according to the detected position information and the position information corresponding to the preset position, the controller specifically determines the rotation angle of the cradle head according to the detected position information and the position information of the preset position. In a specific implementation process, the controller can calculate the difference between the characteristic information of the target object on the target shooting picture and the characteristic information of the target object set on the preview image according to the obtained detection position information and display position information of the target object in the target shooting picture, and determine the rotation angle of the cradle head according to the difference so as to control the cradle head to rotate according to the rotation angle, so that the shooting device mounted on the cradle head adjusts the shooting angle along with the rotation of the cradle head, the characteristic information of the target object on the target shooting picture is the same as the characteristic information of the target object set on the preview image, and the tracking shooting efficiency is improved.

In the embodiment of the invention, the handheld cloud platform determines the credibility of the target shooting picture by acquiring the tracking information on the target image, when the credibility is less than a preset threshold value, the full-picture detection is carried out on the target shooting picture, if a target object exists in a detection result, the rotating angle of the cloud platform is determined according to the detection position information and the display position information, so that the cloud platform is controlled to rotate according to the rotating angle, and a shooting device mounted on the cloud platform adjusts the shooting angle to shoot the target shooting picture which is the same as the characteristic information set on the preview image. By the method, the tracking shooting result can be further detected and adjusted, and the tracking shooting accuracy is improved.

In some embodiments, the method further comprises: and cutting an area including the target object in the shooting picture so as to enable the target object to be located at a preset position of the shooting picture. As shown in fig. 4c, the target object 43 is larger in the photographing screen 41 and smaller in the photographing screen 42, and in order to enlarge the target object 43 in the photographing screen 42 to a preset size, the controller may crop an area, such as an area 44, including the target object 43 in the photographing screen 42 and enlarge the cropped area 44, so that the size of the target object 43 in the photographing screen is the preset size, and maintain the target object 43 at a preset position of the photographing screen, for example, maintain the target object 43 at the center of the photographing screen.

In addition, during the tracking photographing, the size of the target object may be different in different photographing pictures, and in this case, the controller may adjust the photographing parameters of the photographing apparatus according to the position information of the target object in the photographing pictures so that the target object is maintained at a preset size in the photographing pictures. As shown in fig. 4a, the size of the target object 43 in different shooting pictures varies, for example, the target object 43 is larger in the shooting picture 41 and smaller in the shooting picture 42, and the controller can control shooting parameters of the shooting device during tracking of the target object 43, so that the target object 43 maintains a preset size in the shooting picture of the shooting device.

Optionally, the controller adjusts the shooting parameters of the shooting device according to the position information of the target object in the shooting picture, so that the target object is kept at the preset size in the shooting picture, and specifically, controls the shooting device to zoom according to the position information of the target object in the shooting picture, so that the target object is kept at the preset size in the shooting picture. As shown in fig. 4a, the target object 43 is larger in the photographing screen 41 and smaller in the photographing screen 42. In this case, the controller may adjust the focal length of the photographing device such that the size of the target object 43 in both the photographing picture 41 and the photographing picture 42 is a preset size.

In some embodiments, the method further comprises: and cutting an area including the target object in the shooting picture so as to keep the target object in the preset size in the shooting picture. As shown in fig. 4c, the target object 43 is larger in the photographing screen 41 and smaller in the photographing screen 42, and the size of the target object 43 in the photographing screen 42 is smaller than a preset size, and in order to enlarge the target object 43 in the photographing screen 42 to the preset size, the controller may crop an area, such as an area 44, including the target object 43 in the photographing screen 42, and enlarge the cropped area 44, so that the size of the target object 43 in the photographing screen 42 is the preset size.

Fig. 5 is a flowchart of a shooting control method of a handheld pan/tilt head according to another embodiment of the present invention. As shown in fig. 5, based on the embodiment shown in fig. 1, step S104 specifically includes the following steps:

step S501: determining feature points of a plurality of target objects according to the position information of the target objects in the shooting picture;

as shown in fig. 6a, a shooting screen 60 output by the shooting device includes a plurality of target objects such as a target object 61, a target object 62, and a target object 63; the controller detects the feature points of the plurality of target objects respectively, for example, the feature point of the target object 61 is detected as A, B, C, D, E, F, G, and determines the position information of the center point M1 of the target object 61 in the shot picture 60 according to the position information of the feature point of the target object 61 in the shot picture 60, and similarly, the controller determines the position information of the center point M2 of the target object 62 in the shot picture 60 and the position information of the center point M3 of the target object 63 in the shot picture 60. It is understood that the sizes of the target objects 61, 62 and 63 in the shooting picture 60 may be different, and when calculating the respective center points of the target objects 61, 62 and 63, the center point of each target object in the shooting picture may be obtained by weighting the feature point of the target object according to the size of the target object in the shooting picture.

Step S502: and adjusting the shooting parameters of the shooting device according to the characteristic points of the target objects so as to enable the target objects to be at preset positions of the shooting picture.

The controller may control the photographing parameters of the photographing device, such as adjusting the focal length of the photographing device and/or controlling the photographing posture of the photographing device, so that the target object 61, the target object 62, and the target object 63 are maintained at preset positions of the photographing screen, according to the position information of the center point M1, the center point M2, and the center point M3 in the photographing screen 60. Alternatively, controlling the shooting parameters of the shooting device to make the target object 61, the target object 62 and the target object 63 remain at the preset positions of the shooting picture may include the following possible implementations:

one possible implementation is: as shown in fig. 6b, the position information of the center point M1, the center point M2, and the center point M3 in the photographing screen 60 is determined according to the position information of the center point M1, the center point M2, and the center point M3 in the photographing screen 60, and further, according to the position information of the center point M in the photographing screen 60, the photographing parameters of the photographing apparatus are controlled so that the center point M is maintained at a preset position of the photographing screen, for example, at the center position of the photographing screen 64. Alternatively, the center point M of the center points M1, M2, and M3 may be the center point of a geometric figure consisting of the center point M1, the center point M2, and the center point M3.

In some embodiments, since the sizes of the target object 61, the target object 62, and the target object 63 may be different in the photographing screen 60, when calculating the position information of the center point M in the photographing screen 60, the position information of the center point M1, the center point M2, and the center point M3 may be calculated by weighting the position information of the center point M in the photographing screen 60 according to the size of each target object in the photographing screen. Another possible implementation is: as shown in fig. 6c, according to the position information of the center point M1, the center point M2, and the center point M3 in the photographing screen 60, the photographing parameters of the photographing apparatus are controlled such that at least one center point of the center point M1, the center point M2, and the center point M3 is maintained at a preset position of the photographing screen, for example, the center point M2 is maintained at a center position of the photographing screen 65.

It is to be understood that controlling the shooting parameters of the shooting device such that the plurality of target objects are kept at the preset positions on the shooting picture according to the central points of the plurality of target objects is only one possible implementation manner, and in other embodiments, the shooting parameters of the shooting device may be controlled such that the plurality of target objects are kept at the preset positions on the shooting picture according to some other feature points of the plurality of target objects, not limited to the central points of the plurality of target objects.

In this embodiment, the specific method and principle for controlling the control parameters of the shooting device are the same as those of the above embodiments, and are not described herein again.

In this embodiment, the center points of the plurality of target objects are determined according to the position information of the plurality of target objects in the shooting picture, and the shooting parameters of the shooting device are controlled according to the center points of the plurality of target objects, so that the center points are located at the preset positions of the shooting picture of the shooting device, thereby realizing the composition of the handheld tripod head on the plurality of target objects in the self-shooting mode.

Fig. 7 is a flowchart of a shooting control method of a handheld pan/tilt head according to another embodiment of the present invention. As shown in fig. 9, based on the embodiment shown in fig. 1, step S104 specifically includes the following steps:

step S701: determining target objects which are included by a plurality of target objects in a shooting picture and are matched with a preset object;

in this embodiment, the handheld pan/tilt head may pre-store image information or feature point information of a preset object, where the preset object may specifically be a user of the handheld pan/tilt head. When the controller detects a plurality of target objects in the image output by the photographing device, the image information of each of the plurality of target objects may be compared with the image information of the preset object to determine a target object included in the plurality of target objects that matches the preset object.

Step S702: and adjusting the shooting parameters of the shooting device according to the position information of the target object, which is contained in the plurality of target objects and matched with the preset object, in the shooting picture, so that the target object, which is contained in the plurality of target objects and matched with the preset object, is in the preset position of the shooting picture.

As shown in fig. 6a, assuming that the target object 62 matches the preset object, the controller controls the photographing parameters of the photographing device, such as adjusting the focal length of the photographing device and/or controlling the photographing posture of the photographing device, according to the position information of the target object 62 in the photographing screen, so that the target object 62 is maintained at the preset position of the photographing screen, for example, the target object 62 is maintained at the center position of the photographing screen, thereby realizing composition of a plurality of target objects.

The embodiment detects a target object matched with a preset object in the target objects through the position information of the target objects in the image, and controls the control parameter of the shooting device according to the position information of the target object matched with the preset object in the target objects in the image, so that the target object matched with the preset object in the target objects is at a preset position of a shooting picture of the shooting device, and the composition of the shooting equipment for the target objects in a self-shooting mode is realized.

Step S105: and displaying the shot picture in real time through the display screen.

According to the shooting control method of the handheld cloud platform, when the handheld cloud platform is in a self-shooting mode, in the process of tracking and shooting a target object, the control parameters of the shooting device are adjusted in real time according to the position information of the target object in a shooting picture, so that the configuration of the shooting device in the tracking and shooting process is always in a preset configuration, the composition of the shooting picture meets the requirement, and the follow-up shooting process does not need manual operation of a user; further, the shooting picture is displayed in real time through the display screen, and the phenomenon that the shooting effect of the handheld cloud deck is influenced due to the fact that a user cannot see the composition of the shooting picture is avoided.

With reference to fig. 8 and 9, an embodiment of the present invention further provides a handheld cradle head, where the handheld cradle head includes a handle 100, a cradle head 200 fixedly connected to the handle 100, a shooting device 300 mounted on the cradle head 200, a display 400 disposed on the handle 100, and a controller 500, where the controller 500 is electrically connected to the cradle head 200, the shooting device 300, and the display 400 respectively.

The photographing device 300 is used for photographing an image and transmitting the photographed image to the controller 500, and the controller 500 performs the following operations according to the received image:

when the shooting mode of the handheld cloud deck is a self-shooting mode, determining the characteristic information of the target object; controlling the photographing device 300 to track and photograph the target object according to the characteristic information of the target object; determining the position information of the target object in the shooting picture according to the characteristic information of the target object; adjusting control parameters of the shooting device 300 according to the position information of the target object in the shooting picture, so that the shooting device 300 shoots the target object in a preset configuration to obtain the shooting picture; and displays the photographed picture through the display screen 400 in real time.

The handheld pan/tilt head of the embodiment shown in fig. 8 and 9 can be used for implementing the technical solution of the above method embodiment, and the implementation principle and the technical effect are similar, which are not described herein again.

In addition, the controller 500 of the present embodiment may be a Central Processing Unit (CPU). The controller 500 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), a General Array Logic (GAL), or any combination thereof.

Furthermore, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the steps of the shooting control method of the handheld tripod head of the above-described embodiment.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.

Claims

1. A shooting control method of a handheld cloud platform is characterized in that the handheld cloud platform comprises a shooting device and a display screen; the method comprises the following steps:

determining the position information of the target object in a shooting picture according to the characteristic information of the target object;

adjusting the shooting posture in the control parameters of the shooting device according to the position information of the target object in the shooting picture, so that the shooting device shoots the target object in a preset configuration to obtain the shooting picture;

displaying the shot picture in real time through the display screen;

the adjusting of the shooting attitude in the control parameters of the shooting device includes: and controlling the posture of a cradle head used for carrying the shooting device in the handheld cradle head to adjust the shooting posture in the control parameters of the shooting device according to the reliability of the target shooting picture, wherein the reliability is used for representing the tracking accuracy of the target shooting picture obtained by tracking and shooting the target object determined on the preview image by the shooting device.

2. The method of claim 1, wherein the preset configuration comprises at least one of: the target object is located at a preset position of a shooting picture of the shooting device, and the size of the target object is preset in the shooting picture of the shooting device.

3. The method according to claim 2, wherein before controlling the photographing apparatus to perform tracking photographing on the target object according to the feature information of the target object, further comprising:

acquiring a preview image shot by the shooting device;

and displaying the preview image through the display screen.

4. The method according to claim 3, wherein the preset position is a position of the target object in the preview image;

alternatively, the first and second electrodes may be,

after the preview image is displayed through the display screen, the method further comprises:

acquiring display position information of the target object set on the display screen;

the preset position is a display position corresponding to the display position information.

5. The method according to claim 4, wherein the acquiring display position information of the target object set on the display screen comprises:

acquiring a click operation on position indication information included in a menu set on the display screen;

and determining the display position information of the target object according to the acquired position indication information determined by the clicking operation.

6. The method according to claim 4, wherein the acquiring display position information of the target object set on the display screen comprises:

acquiring clicking operation executed by a user on the display screen aiming at the preview image;

determining a click image area according to the click operation;

acquiring dragging operation of the determined click image area;

and determining the display position information of the target object according to the acquired position information of the clicked image area dragged by the dragging operation.

7. The method according to claim 4, wherein the acquiring display position information of the target object set on the display screen comprises:

acquiring a frame selection operation executed on the display screen by a user aiming at the preview image;

determining a frame selection image area according to the frame selection operation;

acquiring dragging operation of the determined frame selection image area;

and determining the display position information of the target object according to the acquired position information of the frame selection image area dragged by the dragging operation.

8. The method according to claim 3, wherein the preset size is a size of the target object in the preview image;

alternatively, the first and second electrodes may be,

after the preview image shot by the shooting device is displayed through the display screen, the method further comprises the following steps:

acquiring display size information of the target object set on the display screen;

the preset size is the display size corresponding to the display size information.

9. The method of claim 1, further comprising:

and cutting an area including the target object in the shooting picture so as to enable the target object to be located at a preset position of the shooting picture.

10. The method according to claim 1, wherein the reliability is determined based on feature information of the target object and tracking information determined by the target object on a target shooting picture.

11. The method of claim 1, wherein said determining the attitude of the pan/tilt head from the confidence level comprises:

when the reliability is smaller than a preset threshold value, carrying out full-image detection on the target shooting picture;

if the target object exists in the detection result, acquiring detection position information of the target object in a target shooting picture;

and determining the posture of the holder according to the detection position information and the position information corresponding to the preset position.

12. The method according to claim 11, wherein the determining the attitude of the pan/tilt head according to the detected position information and the position information corresponding to the preset position comprises:

and determining the rotation angle of the holder according to the detection position information and the position information of the preset position.

13. The method according to any one of claims 1 to 8, wherein the control parameters further comprise: shooting parameters;

the adjusting the control parameter of the shooting device according to the position information of the target object in the shooting picture so that the shooting device shoots the target object with a preset configuration to obtain the shooting picture comprises:

and adjusting the shooting parameters of the shooting device according to the position information of the target object in the shooting picture so as to keep the target object in the preset size in the shooting picture.

14. The method according to claim 13, wherein the adjusting the shooting parameters of the shooting device according to the position information of the target object in the shooting picture so as to keep the target object at a preset size in the shooting picture comprises:

and controlling the shooting device to zoom according to the position information of the target object in the shooting picture so as to keep the target object in a preset size in the shooting picture.

15. The method of claim 13, further comprising:

and cutting an area including the target object in the shooting picture so as to keep the target object in a preset size in the shooting picture.

16. The method according to any one of claims 1 to 8, wherein the control parameters further comprise: shooting parameters;

the adjusting the control parameter of the shooting device according to the position information of the target object in the shooting picture so that the shooting device shoots the target object in a preset configuration includes:

determining feature points of a plurality of target objects according to position information of the target objects in the shooting picture;

and adjusting shooting parameters of the shooting device according to the characteristic points of the target objects so as to enable the target objects to be at preset positions of the shooting picture.

17. The method according to any one of claims 1 to 8, wherein the control parameters further comprise: shooting parameters;

determining target objects which are included by a plurality of target objects in the shooting picture and are matched with preset objects;

and adjusting shooting parameters of the shooting device according to position information of target objects, which are contained in the plurality of target objects and matched with preset objects, in the shooting picture, so that the target objects, which are contained in the plurality of target objects and matched with the preset objects, are in the preset positions of the shooting picture.

18. The method according to claim 1, wherein when the shooting mode of the handheld tripod head is a self-shooting mode, before determining the feature information of the target object, the method further comprises:

and determining that the handheld cloud deck is triggered to a self-photographing mode.

19. The method of claim 18, wherein the determining that the handheld pan/tilt head is triggered to a self-photographing mode comprises:

acquiring a preview image shot by the shooting device;

and determining that a specific target object exists in the preview image according to a target detection algorithm, and determining that the handheld cloud deck is triggered to a self-shooting mode.

20. The method of claim 19, wherein the object detection algorithm is a face detection algorithm or an object contour detection algorithm.

21. The method of claim 19, wherein determining the feature information of the target object comprises:

and extracting the characteristic information of the target object in the preview image according to a target detection algorithm.

22. The method of claim 18, wherein the determining that the handheld pan/tilt head is triggered to a self-photographing mode comprises:

acquiring a preview image shot by the shooting device;

displaying the preview image through the display screen;

and if the tracking triggering operation executed by the user on the display screen according to the preview image is acquired, determining that the handheld cloud deck is triggered to a self-shooting mode.

23. The method of claim 22, wherein the tracking trigger operation comprises at least one of a click operation and a box operation.

24. The method of claim 23, wherein the clicking operation comprises a single click operation, a double click operation, or a long press operation performed by a user on the display screen for the preview image.

25. The method according to any one of claims 22 to 24, wherein the determining the characteristic information of the target object comprises:

and determining characteristic information of the target object in the preview image shot by the shooting device according to the acquired tracking trigger operation executed by the user on the display screen aiming at the preview image.

26. The method of claim 25, wherein the trace trigger operation comprises a click operation;

the determining, according to the obtained tracking trigger operation executed by the user on the display screen for the preview image, feature information of a target object in the preview image captured by the capturing device includes:

and determining a click image area according to the click operation, and obtaining characteristic information for describing a target object in the click image area according to the click image area.

27. The method according to claim 26, wherein the determining a clicked image area according to the clicking operation and obtaining feature information describing a target object in the clicked image area according to the clicked image area comprises:

acquiring a target point determined by the clicking operation;

carrying out object estimation detection on the preview image by taking the target point as a center to determine a target object;

determining a click image area according to the target object;

characteristic information describing the target object in the clicked image area is acquired.

28. The method according to claim 27, wherein the determining a clicked image area according to the clicking operation and obtaining feature information describing a target object in the clicked image area according to the clicked image area comprises:

acquiring a target point determined by the clicking operation;

taking the target point as a center, and carrying out image amplification processing on the preview image according to a preset proportion;

acquiring a frame selection image area determined by frame selection operation of the magnified preview image;

and acquiring characteristic information for describing a target object in the frame image area according to the frame image area.

29. The method of claim 25, wherein the trace trigger operation comprises a frame selection operation;

the determining, according to the obtained tracking trigger operation executed by the user on the display screen for the preview image shot by the shooting device, the feature information of the target object in the preview image includes:

and determining a frame selection image area according to the frame selection operation, and obtaining characteristic information for describing a target object in the frame selection image area according to the frame selection image area.

30. The method according to any one of claims 26 to 29, wherein the characteristic information of the target object comprises any one or more of length, width and coordinate information of an image area.

31. The method of claim 19 or 22, wherein the determining that the handheld pan/tilt head is triggered to a self-photographing mode further comprises:

detecting that a user switches the shooting device to a selection operation facing user shooting; or

Detecting that the difference value between the rotating angle of the handheld cloud platform by taking the yaw axis as the rotating shaft and 180 degrees is smaller than a first angle threshold value, and detecting that the included angle between the yaw axis of the handheld cloud platform and the vertical direction is smaller than a second angle threshold value.

32. The method of claim 31, wherein the detecting a user selection operation to switch the camera to user-oriented capture comprises:

detecting a selection operation of a user to rotate the handheld holder to face the user with the yaw axis as a rotation axis.

33. The method of claim 31, wherein before detecting that the user switches the camera to a user-oriented shooting selection operation, further comprising:

detecting the selection operation of a user on the shooting mode of the handheld cloud deck;

and determining the shooting mode of the handheld cloud deck according to the selection operation.

34. The method of claim 31, wherein before detecting that the user switches the camera to a user-oriented shooting selection operation, further comprising:

detecting the posture of the handheld cloud deck;

and determining the shooting mode of the handheld cloud deck according to the posture of the handheld cloud deck.

35. A handheld cloud platform, its characterized in that, handheld cloud platform includes:

a handle;

the holder is fixedly connected with the handle;

a shooting device mounted on the pan/tilt head;

the display screen is arranged on the handle; and

displaying the shot picture in real time through the display screen;

when the controller adjusts the shooting attitude in the control parameters of the shooting device, the controller is specifically configured to: and controlling the posture of a cradle head used for carrying the shooting device in the handheld cradle head to adjust the shooting posture in the control parameters of the shooting device according to the reliability of the target shooting picture, wherein the reliability is used for representing the tracking accuracy of the target shooting picture obtained by tracking and shooting the target object determined on the preview image by the shooting device.

36. A handheld head according to claim 35, wherein said preset configuration comprises at least one of: the target object is located at a preset position of a shooting picture of the shooting device, and the size of the target object is preset in the shooting picture of the shooting device.

37. The handheld tripod head according to claim 36, wherein the controller further performs the following operations before controlling the photographing apparatus to follow and photograph the target object according to the feature information of the target object:

acquiring a preview image shot by the shooting device;

and displaying the preview image through the display screen.

38. The handheld holder according to claim 37, wherein the preset position is a position of the target object in the preview image;

alternatively, the first and second electrodes may be,

the controller further performs the following operations after displaying the preview image through the display screen:

39. The handheld pan/tilt head according to claim 38, wherein the controller, when acquiring the display position information of the target object set on the display screen, specifically performs the following operations:

40. The handheld pan/tilt head according to claim 38, wherein the controller, when acquiring the display position information of the target object set on the display screen, specifically performs the following operations:

determining a click image area according to the click operation;

acquiring dragging operation of the determined click image area;

41. The handheld pan/tilt head according to claim 38, wherein the controller, when acquiring the display position information of the target object set on the display screen, specifically performs the following operations:

acquiring dragging operation of the determined frame selection image area;

42. The handheld holder according to claim 37, wherein the preset size is a size of the target object in the preview image;

alternatively, the first and second electrodes may be,

the controller, after displaying the preview image photographed by the photographing apparatus through the display screen, further performs the following operations:

43. A handheld holder according to claim 35, wherein said controller further performs the following operations:

44. A handheld tripod head according to claim 35, wherein said confidence level is determined based on characteristic information of said target object and tracking information determined by said target object on a target captured image.

45. A handheld holder according to claim 35, wherein the controller, when determining the attitude of the holder in dependence on the confidence level, is configured to perform in particular the following operations:

46. A handheld holder according to claim 45, wherein the controller is configured to, when determining the attitude of the holder based on the detected position information and the position information corresponding to the predetermined position, perform in particular the following:

47. A handheld holder according to any one of claims 35 to 42, wherein the control parameters further comprise: shooting parameters;

the controller adjusts the control parameters of the shooting device according to the position information of the target object in the shooting picture, so that when the shooting device shoots the target object with a preset configuration to obtain the shooting picture, the following operations are specifically executed:

48. A handheld cloud deck according to claim 47, wherein said controller is configured to perform the following operations when adjusting the shooting parameters of said shooting device according to the position information of said target object in said shooting picture so as to keep said target object at a preset size in said shooting picture:

49. A handheld holder according to claim 47, wherein said controller further performs the following operations:

50. A handheld holder according to any one of claims 35 to 42, wherein the control parameters further comprise: shooting parameters;

the controller adjusts the control parameters of the shooting device according to the position information of the target object in the shooting picture, so that when the shooting device shoots the target object in a preset configuration, the following operations are specifically executed:

51. A handheld holder according to any one of claims 35 to 42, wherein the control parameters further comprise: shooting parameters;

52. A handheld tripod head according to claim 35, wherein the controller further performs the following operations before determining the characteristic information of the target object when the photographing mode of the handheld tripod head is the self-photographing mode:

53. The handheld holder of claim 52, wherein the controller, upon determining that the handheld holder is triggered to the self-photographing mode, specifically performs the following:

acquiring a preview image shot by the shooting device;

54. A handheld tripod head according to claim 53, wherein said object detection algorithm is a face detection algorithm or an object contour detection algorithm.

55. A handheld holder according to claim 53, wherein the controller is configured to perform the following operations in particular when determining the characteristic information of the target object:

56. The handheld holder of claim 52, wherein the controller, upon determining that the handheld holder is triggered to the self-photographing mode, specifically performs the following:

acquiring a preview image shot by the shooting device;

displaying the preview image through the display screen;

57. A handheld holder according to claim 56, wherein said tracking trigger operation comprises at least one of a click operation and a box operation.

58. The handheld tripod head according to claim 57, wherein said clicking operation comprises a single click operation, a double click operation or a long press operation performed by a user on said display screen for said preview image.

59. A handheld holder according to any one of claims 56 to 58, wherein the controller is configured to perform the following operations in particular when determining characteristic information of a target object:

60. A handheld holder according to claim 59, wherein the tracking trigger operation comprises a click operation;

when determining the feature information of the target object in the preview image shot by the shooting device according to the acquired tracking trigger operation executed by the user on the display screen aiming at the preview image, the controller specifically executes the following operations:

61. The handheld pan/tilt head of claim 60, wherein the controller, when determining a clicked image area according to the clicking operation and obtaining feature information describing a target object in the clicked image area according to the clicked image area, specifically performs the following operations:

acquiring a target point determined by the clicking operation;

determining a click image area according to the target object;

62. The handheld pan/tilt head of claim 60, wherein the controller, when determining a clicked image area according to the clicking operation and obtaining feature information describing a target object in the clicked image area according to the clicked image area, specifically performs the following operations:

acquiring a target point determined by the clicking operation;

63. A handheld holder according to claim 59, wherein the tracking trigger operation comprises a frame selection operation;

when determining the feature information of the target object in the preview image according to the acquired tracking trigger operation executed by the user on the display screen for the preview image shot by the shooting device, the controller specifically executes the following operations:

64. A handheld holder according to any one of claims 60 to 63, wherein the characteristic information of the target object comprises any one or more of length, width, and coordinate information of the image region.

65. The handheld tripod head of claim 53 or 56, wherein said controller, upon determining that said handheld tripod head is triggered to the self-photographing mode, further performs the following operations:

66. A handheld holder according to claim 65, wherein the controller, upon detecting a user switching the camera to a user-oriented selection, is configured to perform in particular the following operations:

67. A handheld tripod head according to claim 65, wherein said controller, before detecting a user switching said camera to a user-oriented selection operation, further performs the following operations:

68. A handheld tripod head according to claim 65, wherein said controller, before detecting a user switching said camera to a user-oriented selection operation, further performs the following operations:

detecting the posture of the handheld cloud deck;